Distributed Control of Multiconsensus

We consider the problem of steering a multiagent system to multiconsensus, namely regime where groups agents agree on given value, which may be different from group group. first address by using distributed proportional controllers that implement additional links in network modeling communication protocol among and introduce procedure for optimal selection them. Both cases single integrators second-order dynamics are taken into account, stability multiconsensus state is studied, ultimately providing conditions gain controllers. then extend approach either add or remove original structure, eventually preserving weak connectedness resulting graph.